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Code 81 is brake switch input circuit.The being stuck in third is a limp mode because of a hard code being set.If you repair or replace the brake switch issue you should be fine on the shifting issue.Good luck and let me know if i can help.

tsb remove dist cap ,clean out breather holes i replaced cap and rotor at the same time. chevy has the problem with the 4.3l astro,s and blazer i have both.fixed the problem when buying the cap and rotor the directions inside will also tell you how to fix

do the pin point tests, these start witjh running a trouble code test, autozone and kragen will do this for free, if u haven't had the trans apart then cross out any crossed wiring issues, but I do think you will find a problem with the 2-3 shift solenoid, either the solenoid has failed or the connector has a problem on the outside of the trans.